A torque measurement structure for a rotary reducer

Abstract

The present application relates to the technical field of rotary reducer, and specifically discloses a torque measurement structure of a rotary reducer, which includes a rotary bearing; a frame, which is rotatably arranged on the rotary bearing; a reducer body, which includes an input housing, an output housing, a gear shaft and a transmission mechanism, wherein the output housing is fixedly arranged on the frame, the input housing and the output housing are rotatably connected, the output gear at the bottom end of the gear shaft is meshed with the rotary bearing, and the transmission mechanism is arranged between the top end of the gear shaft and the input housing; a measuring mechanism, wherein the measuring mechanism includes a moment arm, a convex block and a sensor, wherein the moment arm is fixedly arranged on the outer wall of the input housing, the convex block is fixedly arranged on the frame, and the sensor is inserted between one end of the moment arm away from the input housing and the convex block, and the sensor is used to detect the extrusion force exerted on the moment arm under the action of the transmission mechanism. The present application facilitates timely measurement of the output torque of the rotary reducer.

Description

Technical Field

[0001] The present application relates to the technical field of rotary reducers, and in particular to a torque measurement structure for rotary reducers. Background Art

[0002] The main parts of the existing slewing reducer used in engineering machinery, port machinery, etc. are: power input system (such as hydraulic motor or electric motor), brake system, transmission system and output system (such as output gear) from top to bottom. The installation method is usually that the power input system is on the top and the output system is on the bottom, and the output gear at the bottom of the slewing reducer is meshed with the slewing bearing.

[0003] In order to ensure the normal operation of the slewing reducer, the output torque of the slewing reducer needs to be measured. At present, the slewing reducer mainly measures or limits the torque in the following two ways: First, install a torque-limiting coupling or torque sensor at the input end of the slewing reducer. Second, measure the operating parameters of the hydraulic motor or motor at the input end for feedback to limit the torque; such as hydraulic system pressure, motor current, etc.

[0004] The above methods are all measured at the input end of the rotary reducer. The output torque can be measured at the input end only after being transmitted by the reducer, and there is a certain degree of distortion and lag. Summary of the invention

[0005] In order to facilitate timely measurement of the output torque of the rotary reducer, the present application provides a torque measurement structure for the rotary reducer.

[0006] The present application provides a rotary reducer torque measurement structure adopts the following technical solution:

[0007] A rotary reducer torque measurement structure comprises: a slewing bearing; a frame rotatably arranged on the slewing bearing; a reducer body, the reducer body comprising an input housing, an output housing, a gear shaft and a transmission mechanism, the output housing is fixedly arranged on the frame, the input housing and the output housing are rotatably connected, the gear shaft is rotatably arranged between the input housing and the output housing, the output gear at the bottom end of the gear shaft is meshed with the slewing bearing, and the transmission mechanism is arranged between the top end of the gear shaft and the input housing; a measuring mechanism, the measuring mechanism comprises a moment arm, a protrusion and a sensor, the moment arm is fixedly arranged on the outer wall of the input housing, the protrusion is fixedly arranged on the frame, the sensor is penetrated between one end of the moment arm away from the input housing and the protrusion, and the sensor is used to detect the extrusion force exerted on the moment arm under the action of the transmission mechanism.

[0008] By adopting the above technical scheme, when the rotary reducer is working, the gear shaft rotates, and the gear shaft will generate a force on the input shell through the transmission mechanism. This force makes the input shell tend to rotate, but a sensor is inserted between the torque arm on the outer wall of the input shell and the protrusion on the frame. The sensor can limit the rotation of the torque arm, so that the input shell cannot rotate. Therefore, the force transmitted by the transmission mechanism will make the sensor press against the protrusion. The sensor can detect the extrusion force on the end of the torque arm, and then the output torque can be obtained by multiplying the extrusion force by the length of the torque arm. Therefore, the output torque of the rotary reducer can be quickly measured at the output end; because the measuring mechanism is arranged between the reducer body and the frame, and the reducer body and the frame are fixedly connected, after the frame rotates, it can still be ensured that the sensor is inserted between the reducer body and the frame, and the torque is smoothly measured, thereby eliminating the influence of the open gear transmission at the output end of the rotary reducer on the torque measurement process.

[0009] Optionally, an avoidance groove is provided on the protrusion, and the sensor is located in the avoidance groove. When the torque arm rotates, it can drive the sensor to slide out from both ends of the avoidance groove. Overload protection mechanisms are provided on both ends of the avoidance groove on the protrusion for opening the ends of the avoidance groove.

[0010] By adopting the above technical solution, when an overload occurs, the extrusion force detected by the sensor is large. When the extrusion force exceeds the critical value, the overload protection mechanism will open the end of the avoidance groove. After the sensor is no longer blocked, the torque arm can drive the sensor to rotate, causing the transmission to disengage from the avoidance groove, thereby reducing the impact of the overload on the sensor and protecting the sensor and the transmission mechanism.

[0011] Optionally, the overload protection mechanism includes a mounting block, a stopper and an elastic member, the mounting block being slidably arranged in the protrusion, the sliding direction of the mounting block being parallel to the extension direction of the avoidance groove, a receiving groove for accommodating the stopper is provided in the mounting block, one end of the stopper is slidably arranged in the receiving groove, the sliding direction of the stopper is perpendicular to the sliding direction of the mounting block, the other end of the stopper is located in the avoidance groove, one end of the stopper located in the avoidance groove is used to abut against the sensor, the elastic member is arranged between the stopper and the bottom wall of the receiving groove, and the elastic member makes the stopper press against the inner wall of the avoidance groove.

[0012] By adopting the above technical solution, under normal conditions, one end of the block is located in the avoidance groove, and the block is pressed against the bottom wall of the avoidance groove; when the rotary reducer is working, the sensor will generate thrust on the block. Since the rotary reducer is working normally, the thrust generated by the sensor on the block is smaller than the maximum static friction of the block, so that the block can remain stationary, thereby continuously measuring the torque; when the rotary reducer is abnormal and overloaded, the thrust generated by the sensor on the block is greater than the maximum static friction of the block, so the sensor can quickly push the block to slide out of the avoidance groove, and when the block slides The mounting block is driven to slide until the block slides out from the end of the avoidance groove. At this time, the block is no longer blocked by the inner wall of the avoidance groove, and can slide into the accommodating groove of the mounting block, so that the block is away from the rotation path of the sensor. Therefore, the moment arm can drive the sensor to rotate to one side, thereby avoiding continuous squeezing of the sensor during overload, thereby achieving overload protection for the sensor. In this solution, the sliding of the block is carried out as the sensor rotates, and there is no need to set up other power sources to drive the block to move, which is more energy-efficient. In addition, the block and the mounting block can be reset and then reused, which is more convenient.

[0013] Optionally, the avoidance groove is arc-shaped, and the curvature of the avoidance groove is adapted to the motion trajectory of the sensor.

[0014] By adopting the above technical solution, the force exerted by the sensor on the block is always along the sliding direction of the block. Therefore, when an overload occurs, the sensor can quickly push the block out to avoid the block being only partially pushed out to affect subsequent work.

[0015] Optionally, an adjustment mechanism is provided in the block, and the adjustment mechanism includes a rotating rod, a screw, a connecting block and a transmission assembly. The rotating rod is rotatably set in the block, one end of the rotating rod passes through the block, the extension directions of the screw and the elastic member are parallel, the screw is rotatably set in the block, the connecting block is slidably set in the block, the connecting block and the screw are threadedly connected, the end of the elastic member is fixedly connected to the connecting block, the transmission assembly is set between the rotating rod and the screw, and the rotating rod can rotate the screw through the transmission assembly.

[0016] By adopting the above technical solution, when the rotating rod rotates, the screw can be rotated through the transmission assembly, and the rotation of the screw causes the connecting block to slide, so that one end of the elastic member slides, and the stretched length of the elastic member is adjusted, thereby adjusting the pulling force of the elastic member on the block, that is, adjusting the pressure generated by the block on the inner wall of the avoidance groove; the maximum static friction force exerted on the block is the product of the pressure of the block on the inner wall of the avoidance groove and the friction coefficient, so the maximum static friction force exerted on the block can be adjusted as needed, thereby adjusting the critical point of overload.

[0017] Optionally, the transmission assembly includes a worm and a worm wheel, the worm and the rotating rod are coaxially fixedly connected, the worm wheel and the screw are coaxially fixedly connected, and the worm and the worm wheel are meshed.

[0018] By adopting the above technical solution, when the rotating rod rotates, the worm can be driven to rotate, the worm drives the worm wheel to rotate, and the worm wheel drives the screw to rotate, thereby realizing power transmission; the setting of the transmission component changes the force transmission direction, so it is convenient to adjust the stretching amount of the elastic member by rotating the rotating rod; in addition, since the rotation of the worm wheel cannot drive the worm to rotate, the worm and the worm wheel have self-locking ability, which can reduce the possibility of accidental rotation of the rotating rod, so that the length of the elastic member remains stable, and the pressure of the block on the inner wall of the avoidance groove remains constant, thereby reducing the impact of vibration in the working environment.

[0019] Optionally, a push bolt is threadedly connected to the mounting block, one end of the push bolt is located in the receiving groove, and the push bolt is used to abut against one end of the stop block located in the receiving groove.

[0020] By adopting the above technical solution, when the mounting block slides out from the protrusion, the stopper is located in the receiving groove inside the mounting block, and one end of the stopper located in the receiving groove abuts against the end of the push bolt; at this time, the push bolt is rotated, and the end of the push bolt can push the stopper to move, so that one end of the stopper slides out of the receiving groove, and then the rotation of the push bolt is stopped, so that the stopper can be kept in the current position, thereby facilitating the slide of the stopper into the avoidance groove, making the reset process of the stopper more labor-saving and convenient.

[0021] Optionally, an anti-dropping block is fixedly provided on one end of the push bolt located in the accommodating groove.

[0022] By adopting the above technical solution, the provision of the anti-detachment block can prevent the push bolt from detaching from the mounting block.

[0023] Optionally, a baffle is fixedly connected to the frame, the baffle is located on the rotation path of the moment arm, and the baffle is used to counteract the moment arm.

[0024] By adopting the above technical solution, when an overload occurs, the moment arm can cause the sensor to rotate a certain angle outside the avoidance groove, and the baffle can offset the moment arm, thereby limiting the rotation angle of the moment arm, making the rotation angle of the moment arm smaller, thereby avoiding damage to the input power connection device.

[0025] Optionally, an elastic pad is fixedly arranged on the baffle.

[0026] By adopting the above technical solution, the setting of the elastic pad can play a buffering role and protect the moment arm.

[0027] In summary, this application includes the following beneficial technical effects:

[0028] 1. The measuring mechanism is arranged on one side close to the output end of the reducer body. The extrusion pressure measured by the sensor can be converted into the output torque, so as to quickly complete the measurement of the output torque. The torque can be measured while the rotary reducer is working. Therefore, when the rotary reducer is overloaded, it can be detected in time, so that the rotary reducer stops working immediately, thereby reducing the damage to the transmission mechanism.

[0029] 2. When an overload occurs, the input end of the slewing reducer stops inputting, but under the action of inertia, the torque arm will still be subjected to the overload force. At this time, the overload protection mechanism can play a secondary protection role, so that the end of the avoidance groove is in an open state, and the sensor at the end of the torque arm can be detached from the avoidance groove, thereby avoiding continuous squeezing of the sensor, which helps to reduce the damage to the transmission mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of Example 1 of the present application;

[0031] Figure 2 This is a structural schematic diagram of Example 1 of the present application for illustrating the installation position of the slewing bearing;

[0032] Figure 3 is a cross-sectional view of Example 1 of the present application;

[0033] Figure 4 is a schematic diagram of the structure of Example 2 of the present application;

[0034] Figure 5 is a cross-sectional view of the stopper in Example 2 of the present application;

[0035] Figure 6 This is a structural schematic diagram of Example 2 of the present application for showing the installation position of the stopper;

[0036] Figure 7 This is a structural schematic diagram of Example 2 of the present application for illustrating the connection relationship between the stopper and the mounting block;

[0037] Figure 8 It is a structural schematic diagram of Example 2 of the present application for demonstrating the installation position of the baffle.

[0038] Reference numerals: 1, slewing bearing; 2, frame; 21, motor;

[0039] 3. Reducer body; 31. Input housing; 32. Output housing; 33. Input shaft; 34. Gear shaft; 341. Output gear; 35. Transmission mechanism; 351. First planetary gear train; 352. Second planetary gear train; 353. Third planetary gear train; 3531. Internal gear ring; 3532. Sun gear; 3533. Planetary gear; 3534. Planet carrier;

[0040] 4. Measuring mechanism; 41. Moment arm; 42. Bump; 421. Avoidance groove; 422. Slide groove; 423. Placement groove; 424. Limiting groove; 425. Second strip groove; 43. Sensor;

[0041] 5. Overload protection mechanism; 51. Mounting block; 511. Accommodating groove; 512. First strip groove; 513. Limiting block; 52. Stopper; 521. Blocking part; 522. Sliding part; 53. Elastic member;

[0042] 6. Adjustment mechanism; 61. Rotating rod; 611. Holding block; 62. Screw rod; 63. Connecting block; 64. Transmission assembly; 641. Worm; 642. Worm wheel; 65. Guide rod;

[0043] 7. Push bolt; 71. Anti-drop block;

[0044] 8. Baffle; 9. Elastic pad. DETAILED DESCRIPTION

[0045] The following combination Figure 1-Figure 8 This application is described in further detail. Example

[0046] The present application embodiment discloses a torque measurement structure for a rotary reducer. Figure 1 and Figure 2 The torque measurement structure of the slewing reducer includes a slewing bearing 1, a frame 2, a reducer body 3 and a measuring mechanism 4. The axis of the slewing bearing 1 is vertical, and the frame 2 is rotatably connected to the upper side of the slewing bearing 1.

[0047] Reference Figure 3 The reducer body 3 includes an input housing 31, an output housing 32, an input shaft 33, a gear shaft 34 and a transmission mechanism 35. The output housing 32 is fixedly arranged on the top wall of the frame 2, and the axis of the output housing 32 is vertical. The input housing 31 is arranged above the output housing 32, and the input housing 31 and the output housing 32 are coaxially arranged, and the input housing 31 and the output housing 32 are rotatably connected through a bearing. The input shaft 33 is located inside the input housing 31; the frame 2 is also fixedly connected with a motor 21 for providing power to the reducer body 3, and the output shaft of the motor 21 is coaxially fixedly connected with the input shaft 33 of the reducer body 3. The gear shaft 34 is the output shaft, and the gear shaft 34 is coaxially arranged below the input shaft 33; the bottom end of the gear shaft 34 is coaxially fixedly connected with an output gear 341, and the output gear 341 is located outside the output housing 32, and the output gear 341 is meshed with the slewing bearing 1. The transmission mechanism 35 is disposed between the input shaft 33 and the gear shaft 34 for transmitting power.

[0048] The transmission mechanism 35 includes a first planetary gear train 351, a second planetary gear train 352 and a third planetary gear train 353 which are arranged in sequence from top to bottom. Each planetary gear train includes an inner ring gear 3531, a sun gear 3532, planetary gears 3533 and a planet carrier 3534. The inner ring gear 3531 is coaxially fixedly connected to the inner wall of the input housing 31; the sun gear 3532 and the inner ring gear 3531 are coaxially arranged; the planetary gears 3533 are meshed between the sun gear 3532 and the inner ring gear 3531, and a plurality of planetary gears 3533 are arranged in a circular array; each planetary gear 3533 is rotatably connected to the planet carrier 3534, and the planet carrier 3534 is coaxially rotatably arranged in the input housing 31.

[0049] The sun gear 3532 in the first planetary gear train 351 is coaxially fixedly connected to the input shaft 33; the planet carrier 3534 in the first planetary gear train 351 is coaxially fixedly connected to the sun gear 3532 in the second planetary gear train 352. The planet carrier 3534 in the second planetary gear train 352 is coaxially fixedly connected to the sun gear 3532 in the third planetary gear train 353. The planet carrier 3534 in the third planetary gear train 353 is coaxially fixedly connected to the gear shaft 34.

[0050] Therefore, after the motor 21 is started, the gear shaft 34 can be rotated under the action of the three planetary gear trains, and the gear shaft 34 drives the output gear 341 at the bottom to rotate; since the output gear 341 and the slewing bearing 1 are meshed, and the slewing bearing 1 is fixedly arranged, when the output gear 341 rotates, the reducer body 3 can rotate around the slewing bearing 1, and the reducer body 3 is fixedly connected to the frame 2, so that the frame 2 can rotate around the slewing bearing 1, thereby realizing the driving of the frame 2.

[0051] The measuring mechanism 4 includes a moment arm 41, a protrusion 42 and a sensor 43. The moment arm 41 is fixedly connected to the outer wall of the input housing 31, and a through hole with a vertical axis is provided at one end of the moment arm 41 away from the input housing 31. A protrusion 42 is welded to the frame 2, and a through hole with a vertical axis is also provided on the protrusion 42. The sensor 43 is a pin sensor for detecting radial force; the sensor 43 is fixedly connected to one end of the moment arm 41 provided with a through hole, and the detection end of the sensor 43 passes through the through hole; when the through hole at the end of the moment arm 41 and the through hole on the protrusion 42 are in a coaxial state, the sensor 43 is simultaneously passed between the through hole on the moment arm 41 and the through hole on the protrusion 42, so that the sensor 43 can play the role of a pin, that is, limit the rotation of the moment arm 41 and fix the input housing 31.

[0052] When the slewing reducer is working, the gear shaft 34 and the planet carrier 3534 rotate, and the planetary gear 3533 revolves while rotating. The planetary gear 3533 meshes with the inner gear ring 3531, so the planetary gear 3533 will generate a force on the inner gear ring 3531, so that the inner gear ring 3531 has a tendency to rotate; the inner gear ring 3531 is fixedly connected to the moment arm 41 through the input housing 31, so that the moment arm 41 and the sensor 43 have a tendency to rotate; and the sensor 43 is also inserted into the through hole on the protrusion 42, so the tendency to rotate causes the sensor 43 to be squeezed, and the sensor 43 can detect this force. Then the torque can be obtained by multiplying the force detected by the sensor 43 and the length of the moment arm 41.

[0053] A controller is also provided on the frame 2, and the controller is respectively connected to the sensor 43 and the motor 21, so that the sensor 43 can transmit the signal to the controller after detecting the result. A maximum torque value is pre-set in the controller. When the torque converted from the result detected by the sensor 43 is less than the pre-set maximum torque, the slewing reducer can work normally; when the torque converted from the result detected by the sensor 43 reaches or exceeds the pre-set maximum torque, the controller can stop the motor 21 from working, thereby stopping the input and reducing the impact of overload.

[0054] The implementation principle of Example 1 is as follows: when the rotary reducer works normally, the gear shaft 34 and the planetary carrier 3534 rotate. Since the planetary gear 3533 is meshed with the inner ring gear 3531, the force exerted by the planetary gear 3533 on the inner ring gear 3531 will cause the inner ring gear 3531 to have a tendency to rotate, and the input housing 31 and the torque arm 41 fixedly connected to the inner ring gear 3531 will have a tendency to rotate, so that the sensor 43 at the end of the torque arm 41 will have a tendency to rotate, and the sensor 43 is blocked by the protrusion 42 and cannot rotate. Therefore, this rotation tendency allows the sensor 43 to detect the force, and the output torque of the rotary reducer can be obtained by conversion; when the output torque is too large, it indicates that the operation is abnormal, and the input can be stopped at this time to ensure the safety of the device. Example

[0055] Reference Figure 4 and Figure 5 The difference between this embodiment and the first embodiment is that an arc-shaped avoidance groove 421 is provided on the projection 42 in this embodiment, the sensor 43 is located in the avoidance groove 421, and an overload protection mechanism 5 is provided at both ends of the avoidance groove 421 on the projection 42. The overload protection mechanism 5 includes a mounting block 51, a stopper 52 and an elastic member 53.

[0056] Reference Figure 5 and Figure 6, a placement groove 423 is provided on the side wall of the protrusion 42, and the placement groove 423 can completely accommodate the installation block 51; the installation block 51 is slidably arranged in the placement groove 423, and the sliding direction of the installation block 51 is parallel to the length extension direction of the avoidance groove 421. A limiting block 513 is fixedly connected to the outer wall of the installation block 51, and a limiting groove 424 is provided on the inner wall of the placement groove 423, and the limiting block 513 is slidably arranged in the limiting groove 424, so as to prevent the installation block 51 from directly sliding out of the placement groove 423. A receiving groove 511 is provided on the side of the installation block 51 close to the avoidance groove 421, and the groove depth direction of the receiving groove 511 is horizontal and perpendicular to the sliding direction of the installation block 51. The stopper 52 includes a blocking portion 521 and a sliding portion 522, and the sliding portion 522 is fixedly connected to one end of the blocking portion 521, and the blocker 52 composed of the blocking portion 521 and the sliding portion 522 can completely slide into the receiving groove 511. Under normal conditions, the blocking portion 521 is located in the avoidance groove 421, the blocking portion 521 is located at one end of the avoidance groove 421, and one side of the blocking portion 521 is against the sensor 43. The cross section of the sliding portion 522 is I-shaped, one end of the sliding portion 522 is located in the avoidance groove 421, and is used to be fixedly connected to the blocking portion 521; the other end of the sliding portion 522 is located in the receiving groove 511, and is used to guide the sliding of the stopper 52 along the groove depth direction of the receiving groove 511. A sliding groove 422 is provided on the inner wall of the avoidance groove 421 close to the mounting block 51, and the sliding portion 522 is slidably arranged in the sliding groove 422. The elastic member 53 is a spring, which is fixedly connected between the bottom wall of the accommodating groove 511 and the stopper 52. The elastic member 53 is in a stretched state, so that the elastic member 53 can make the stopper 52 press against the bottom wall of the avoidance groove 421, so that the stopper 52 needs to overcome the maximum static friction force when sliding to the outside of the avoidance groove 421.

[0057] When an overload occurs, the sensor 43 generates a large thrust on the block 52. When this thrust is greater than the maximum static friction force on the block 52, the sensor 43 can quickly push the block 52 to the outside of the avoidance groove 421. When the block 52 slides, it can drive the mounting block 51 to slide. Then, under the action of the elastic member 53, the block 52 can slide into the receiving groove 511, thereby eliminating the obstruction to the sensor 43, and the moment arm 41 can drive the sensor 43 to rotate outward, thereby avoiding continuous pressure on the sensor 43 when overloaded.

[0058] In this embodiment, an elastic member 53 with a large elastic coefficient can be used to make the maximum static friction force received by the block 52 slightly smaller than the maximum detection value of the sensor 43. Therefore, when the force received by the sensor 43 reaches the maximum static friction force received by the block 52, the block 52 can slide to avoid the sensor 43, thereby separating the sensor 43 from the contact with the block 52 and protecting the sensor 43. In other embodiments, the maximum static friction force received by the block 52 and the maximum detection value of the sensor 43 can also be made the same.

[0059] Furthermore, an adjustment mechanism 6 for adjusting the deformation amount of the elastic member 53 is provided in the stopper 52. Coaxially arranged connecting holes are provided on the blocking portion 521 and the sliding portion 522, and the elastic member 53 is inserted into the connecting hole; a cavity connected to the connecting hole is provided inside the blocking portion 521, and one end of the elastic member 53 extends into the cavity. The adjustment mechanism 6 includes a rotating rod 61, a screw rod 62, a connecting block 63 and a transmission assembly 64.

[0060] The axis of the rotating rod 61 is vertical, and the rotating rod 61 is rotatably arranged on the blocking portion 521; one end of the rotating rod 61 passes through the blocking portion 521, and the end of the rotating rod 61 passing through the blocking portion 521 is coaxially fixedly connected with the gripping block 611, so that it is convenient to rotate the rotating rod 61. The screw rod 62 is located inside the blocking portion 521, and the length extension direction of the screw rod 62 and the elastic member 53 are parallel; the screw rod 62 is rotatably arranged on the blocking portion 521 around its own axis. A guide rod 65 parallel to the screw rod 62 is also fixedly connected to the inner wall of the cavity inside the blocking portion 521. The connecting block 63 is slidably arranged in the cavity, and the connecting block 63 is fixedly connected to one end of the elastic member 53 located in the blocking portion 521. A guide hole and a threaded hole are respectively provided at both ends of the connection block 63, the guide rod 65 is slidably inserted into the guide hole, and the screw rod 62 is threadedly connected to the threaded hole; therefore, under the limiting effect of the guide rod 65, the connection block 63 can be slid by rotating the screw rod 62, thereby driving the end of the elastic member 53 to slide and adjusting the stretching amount of the elastic member 53. Among them, the thread lead angle of the screw rod 62 is smaller than the equivalent friction angle, so the screw rod 62 can be self-locking.

[0061] Reference Figure 5 The transmission assembly 64 is disposed between the rotating rod 61 and the screw rod 62. The transmission assembly 64 includes a worm 641 and a worm wheel 642. The worm 641 and the worm wheel 642 are both disposed inside the blocking portion 521. The worm 641 and the end of the rotating rod 61 are coaxially fixedly connected, the worm wheel 642 and the end of the screw rod 62 are coaxially fixedly connected, and the worm 641 and the worm wheel 642 are meshed. Therefore, when the rotating rod 61 rotates, the worm 641 can be driven to rotate, the worm 641 drives the worm wheel 642 to rotate, and the worm wheel 642 drives the screw rod 62 to rotate.

[0062] Reference Figure 5 and Figure 7 Since one end of the rotating rod 61 passes through the blocking portion 521, a first strip groove 512 connected to the accommodating groove 511 is opened on the mounting block 51; when the blocking block 52 slides into the accommodating groove 511, the rotating rod 61 outside the blocking block 52 can slide along the first strip groove 512, and the setting of the first strip groove 512 can avoid the sliding of the rotating rod 61.

[0063] In addition, in other embodiments, a circular groove may be provided on the outer wall of the blocking portion 521, and one end of the rotating rod 61 may pass through the bottom wall of the circular groove; a ratchet may be hingedly provided on the inner wall of the circular groove, and the ratchet may be one or more; a spring is connected between the ratchet and the inner wall of the circular groove; a ratchet wheel for abutting against the ratchet wheel is coaxially fixedly connected to the outer wall of the rotating rod 61 located in the circular groove; and the spring makes the ratchet wheel abut against the ratchet wheel. Therefore, when the rotating rod 61 stops rotating, the cooperation between the ratchet and the ratchet wheel can further limit the accidental rotation of the rotating rod 61, thereby improving the stability of the rotating rod 61.

[0064] A threaded hole is provided on one side of the mounting block 51 away from the avoidance groove 421, and a push bolt 7 is threadedly connected in the threaded hole. The thread lead angle of the push bolt 7 is less than the equivalent friction angle, so the push bolt 7 has a self-locking ability. The head of the push bolt 7 is located on the outside of the mounting block 51, and the other end of the push bolt 7 extends into the receiving groove 511 of the mounting block 51. Therefore, after the stopper 52 slides into the receiving groove 511, the end of the push bolt 7 abuts against the stopper 52; by rotating the push bolt 7, the stopper 52 in the receiving groove 511 can be pushed out, and the sliding portion 522 of the stopper 52 moves to a state aligned with the slide groove 422, and then the blocking portion 521 of the stopper 52 can be easily slid into the avoidance groove 421. After resetting the blocking portion 521 of the block 52, the push bolt 7 is rotated in the opposite direction. After the push bolt 7 loses its abutment, the elastic member 53 can make the block 52 press against the bottom wall of the avoidance groove 421, thereby providing sufficient maximum static friction force for the block 52 and providing space for subsequent sliding of the block 52.

[0065] Reference Figure 5 and Figure 6 , wherein a second strip groove 425 is opened on the outer wall of the protrusion 42, and the second strip groove 425 is connected to the placement groove 423; the push bolt 7 is penetrated in the second strip groove 425, so when the mounting block 51 slides, it can drive the push bolt 7 to slide along the second strip groove 425.

[0066] Furthermore, one end of the push bolt 7 located in the receiving groove 511 is fixedly connected to an anti-detachment block 71 , thereby preventing the push bolt 7 from being detached from the connection with the mounting block 51 .

[0067] Reference Figure 8 The frame 2 is also fixedly connected with a baffle 8, and two baffles 8 are provided, and are respectively located on both sides of the protrusion 42; the outer side of the baffle 8 is fixedly bonded with an elastic pad 9. The baffle 8 is vertically arranged, and the baffle 8 is located on the rotation path of the moment arm 41. Therefore, when the overload protection mechanism 5 is activated, the moment arm 41 can drive the sensor 43 to rotate. At this time, the baffle 8 can limit the rotation of the moment arm 41 to prevent the moment arm 41 from rotating too much, so as to facilitate the subsequent rotation and reset of the moment arm 41.

[0068] The implementation principle of Example 2 is as follows: when the rotary reducer is running, the sensor 43 at the end of the moment arm 41 tends to rotate, and the sensor 43 is blocked by the block 52, so the extrusion force detected by the sensor 43 can be converted into the output torque.

[0069] When the rotary reducer is working normally, the force of the sensor 43 on the block 52 is within the normal range, so the force of the sensor 43 on the block 52 is less than the maximum static friction of the block 52, and the block 52 is in a static state. When an overload occurs, the force of the sensor 43 on the block 52 is greater than the maximum static friction of the block 52, so the block 52 is quickly pushed out of the avoidance groove 421, and the block 52 can drive the mounting block 51 to move synchronously when sliding; when the block 52 moves to the outside of the avoidance groove 421, the elastic member 53 makes the block 52 slide into the receiving groove 511 of the mounting block 51 because the inner wall of the avoidance groove 421 loses the blocking effect on the block 52. At this time, the moment arm 41 can drive the sensor 43 to rotate to one side, and then the moment arm 41 is blocked by the baffle 8, thereby stopping the rotation; therefore, the overload protection mechanism 5 can play a secondary protection role, which can make the sensor 43 disengage in time when an overload occurs, thereby preventing the sensor 43 from being continuously squeezed and damaged.

[0070] When the moment arm 41 stops rotating, the whole device is in a stationary state. At this time, the device can be inspected to find the cause of the overload and repair it. After the repair is completed, the block 52 that slides out of the avoidance groove 421 can be reset. When resetting, first rotate the moment arm 41 so that the sensor 43 at the end of the moment arm 41 slides into the avoidance groove 421, and the sensor 43 and the block 52 at the other end of the avoidance groove 421 are abutted. Then rotate the push bolt 7, and the end of the push bolt 7 can push the block 52 in the receiving groove 511 to slide. When a part of the block 52 slides out of the receiving groove 511 and the sliding part 522 of the block 52 is aligned with the sliding groove 422, the push bolt 7 can be stopped from rotating so that the block 52 stays at the current position. Then the mounting block 51 is slid into the placement groove 423, and the mounting block 51 drives the stopper 52 to slide, so that the blocking portion 521 of the stopper 52 can slide into the avoidance groove 421, and the blocking portion 521 of the stopper 52 abuts against the sensor 43. Then the push bolt 7 is rotated in the opposite direction, so that the anti-dropping block 71 at the end of the push bolt 7 is separated from the contact with the stopper 52, and the push bolt 7 is reset to the initial state; after the push bolt 7 is separated from the contact with the stopper 52, the stopper 52 is pressed against the bottom wall of the avoidance groove 421 under the restoring action of the elastic member 53, so that the position of the stopper 52 is fixed, and the reset of the stopper 52 is completed.

[0071] The above are optional embodiments of the present application, and are not intended to limit the protection scope of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A torque measurement structure for a rotary reducer, characterized in that: include: Slewing bearing (1); A frame (2) is rotatably mounted on the slewing bearing (1); A reducer body (3), the reducer body (3) comprising an input housing (31), an output housing (32), a gear shaft (34) and a transmission mechanism (35), the output housing (32) being fixedly arranged on the frame (2), the input housing (31) and the output housing (32) being rotatably connected, the gear shaft (34) being rotatably arranged between the input housing (31) and the output housing (32), the output gear (341) at the bottom end of the gear shaft (34) being meshed with the slewing bearing (1), and the transmission mechanism (35) being arranged between the top end of the gear shaft (34) and the input housing (31); A measuring mechanism (4), the measuring mechanism (4) comprising a moment arm (41), a convex block (42) and a sensor (43), the moment arm (41) being fixedly arranged on the outer wall of the input housing (31), the convex block (42) being fixedly arranged on the frame (2), the sensor (43) being inserted between an end of the moment arm (41) away from the input housing (31) and the convex block (42), the sensor (43) being used to detect the extrusion force exerted on the moment arm (41) under the action of the transmission mechanism (35); The convex block (42) is provided with an avoidance groove (421), the sensor (43) is located in the avoidance groove (421), and when the moment arm (41) rotates, it can drive the sensor (43) to slide out from both ends of the avoidance groove (421), and the convex block (42) is provided with an overload protection mechanism (5) at both ends of the avoidance groove (421) for opening the end of the avoidance groove (421); The overload protection mechanism (5) comprises a mounting block (51), a stopper (52) and an elastic member (53); the mounting block (51) is slidably disposed in the protrusion (42); the sliding direction of the mounting block (51) is parallel to the extension direction of the avoidance groove (421); a receiving groove (511) for accommodating the stopper (52) is provided in the mounting block (51); one end of the stopper (52) is slidably disposed in the receiving groove (511); The sliding direction of the block (52) is perpendicular to the sliding direction of the mounting block (51); the other end of the block (52) is located in the avoidance groove (421); one end of the block (52) located in the avoidance groove (421) is used to abut against the sensor (43); the elastic member (53) is arranged between the block (52) and the bottom wall of the accommodating groove (511); the elastic member (53) enables the block (52) to abut against the inner wall of the avoidance groove (421).

2. A rotary reducer torque measurement structure according to claim 1, characterized in that: The avoidance groove (421) is arc-shaped, and the curvature of the avoidance groove (421) is compatible with the motion trajectory of the sensor (43).

3. A rotary reducer torque measurement structure according to claim 2, characterized in that: An adjusting mechanism (6) is arranged inside the stopper (52), and the adjusting mechanism (6) comprises a rotating rod (61), a screw rod (62), a connecting block (63) and a transmission assembly (64); the rotating rod (61) is rotatably arranged in the stopper (52), one end of the rotating rod (61) passes through the stopper (52), the extension directions of the screw rod (62) and the elastic member (53) are parallel, the screw rod (62) is rotatably arranged in the stopper (52), the connecting block (63) is slidably arranged in the stopper (52), the connecting block (63) and the screw rod (62) are threadedly connected, the end of the elastic member (53) is fixedly connected to the connecting block (63), and the transmission assembly (64) is arranged between the rotating rod (61) and the screw rod (62), and the rotating rod (61) can make the screw rod (62) rotate through the transmission assembly (64).

4. A rotary reducer torque measurement structure according to claim 3, characterized in that: The transmission assembly (64) comprises a worm (641) and a worm wheel (642); the worm (641) and the rotating rod (61) are coaxially fixedly connected; the worm wheel (642) and the screw (62) are coaxially fixedly connected; and the worm (641) and the worm wheel (642) are meshed with each other.

5. The torque measurement structure of a rotary reducer according to claim 2, characterized in that: A push bolt (7) is threadedly connected to the mounting block (51), one end of the push bolt (7) is located in the receiving groove (511), and the push bolt (7) is used to abut against one end of the stopper (52) located in the receiving groove (511).

6. A rotary reducer torque measurement structure according to claim 5, characterized in that: An anti-dropping block (71) is fixedly provided at one end of the thrust bolt (7) located in the receiving groove (511).

7. The torque measurement structure of a rotary reducer according to claim 1, characterized in that: A baffle (8) is fixedly connected to the frame (2); the baffle (8) is located on the rotation path of the moment arm (41); and the baffle (8) is used to abut against the moment arm (41).

8. A rotary reducer torque measurement structure according to claim 7, characterized in that: An elastic pad (9) is fixedly arranged on the baffle (8).

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